224 lines
6.9 KiB
Markdown
224 lines
6.9 KiB
Markdown
# v3.6.1
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The z1_controller is mainly used to control the robot arm and communicate with the Z1 SDK
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## Notice
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support robot: Z1(v3.6.1)
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not support robot: Z1(v3.4, v3.5)
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## Dependencies
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- [ROS](https://www.ros.org/)（Melodic）
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- build-essential
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```bash
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sudo apt install build-essential
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```
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- Boost (version 1.5.4 or higher)
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```bash
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dpkg -S /usr/include/boost/version.hpp # check boost version
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sudo apt install libboost-dev # install boost
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```
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- CMake (version 2.8.3 or higher)
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```bash
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cmake --version # check cmake version
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sudo apt install cmake # install cmake
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```
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- [Eigen](https://gitlab.com/libeigen/eigen/-/releases/3.3.9) (version 3.3.9 or higher)
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```bash
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cd eigen-3.3.9
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mkdir build && cd build
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cmake ..
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sudo make install
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sudo ln -s /usr/local/include/eigen3 /usr/include/eigen3
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sudo ln -s /usr/local/include/eigen3/Eigen /usr/local/include/Eigen
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```
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- [RBDL](https://github.com/rbdl/rbdl/releases/tag/v2.6.0) (version 2.6.0)
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```bash
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cd rbdl-2.6.0
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mkdir build && cd build
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cmake -D CMAKE_BUILD_TYPE=Release ..
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sudo make install
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sudo sh -c "echo '/usr/local/lib' >> /etc/ld.so.conf"
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sudo ldconfig
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```
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## Build
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```bash
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# config /<path to>/z1_controller/CMakeList.txt
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cd /<path to>/z1_controller && mkdir build && cd build
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cmake ..
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make -j4
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```
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## Usage
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The default IP of the robot is 192.168.123.110, you need to change the IP of your PC before using the SDK so that your PC can ping to the robot.
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First, please connect the network cable between your PC and robot. Then run ifconfig in a terminal, you will find your port name. For example, enpxxx.
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```bash
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sudo ifconfig enpxxx down # enpxxx is your PC port
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sudo ifconfig enpxxx 192.168.123.162/24
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sudo ifconfig enpxxx up
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ping 192.168.123.110
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```
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Then run program.
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```
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cd /<path to>/z1_controller/build
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sudo ./z1_ctrl
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```
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- FSM(finite-state machine)
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| State | Keyswitch | Switchable |
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| ----------- | --------- | --------------------------- |
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| BACKTOSTART | ～ | 1 2 |
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| PASSIVE | 1 | ~ 2 3 = |
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| JOINTCTRL | 2 | ~ 1 3 4 5 6 7 8 9 0 - |
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| CARTESIAN | 3 | ~ 1 2 4 5 6 9 |
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| MoveJ | 4 | ~ 1 2 3 5 6 9 |
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| MoveL | 5 | ~ 1 2 3 4 6 9 |
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| MOVEC | 6 | ~ 1 2 3 4 5 9 |
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| TEACH | 7 | ~ 1 2 |
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| TEACHREPEAT | 8 | automatically switches to 2 |
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| SAVESTATE | 9 | automatically switches to 2 |
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| TOSTATE | 0 | automatically switches to 2 |
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| TRAJECTORY | - | ~ 1 2 |
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| CALIBRATION | = | automatically switches to 2 |
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| NEXT | ] | next state |
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#### FSM Details
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- Key ~ (BACKTOSTART) : All motors return to initial positions
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- Key1（PASSIVE）: All motor enter passive state(The state of the Z1 startup)
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- Key2（ JOINTCTRL）
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| Joint ID | 0 | 1 | 2 | 3 | 4 | 5 | Gripper |
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| :------------------------------ | :---------------------- | :---------------------- | :---------------------- | :---------------------- | :---------------------- | :---------------------- | ----------------------- |
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| Keyboard | Q/A | W/ S | D/ E | R/F | T/G | Y/H | up/down |
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| Joint Action <br />(right hand) | positive<br />/negative | positive<br />/negative | positive<br />/negative | positive<br />/negative | positive<br />/negative | positive<br />/negative | positive<br />/negative |
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- Key3（CARTESIAN）: The reference coordinate system is cartesian
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| Keyboard | Q/A | W/S | E/D | R/F | T/G | Y/H |
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| ------------ | ---------------------- | ---------------- | ------------- | ----------------------- | ------------------------ | ---------------------- |
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| Key Function | forward<br />/backward | right<br />/left | up<br />/down | roll <br />(right hand) | pitch<br /> (right hand) | yaw<br /> (right hand) |
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- Key4（MoveJ）:
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```
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Key4—— Enter the desired end pose（roll pitch yaw x y z）——The Z1 joint rotate to the joint target point（After Z1 arrived the target point, it automatically switches to the joint space control state）
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```
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- Key5（MoveL）:
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```
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Key5——Enter the desired end pose（roll pitch yaw x y z）——The Z1 follows the generated straight trajectory to the target point（After Z1 arrived the target point, it automatically switches to the joint space control state）
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```
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- Key6（MoveC）:
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```
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Key6——Enter the desired middle and end pose（roll pitch yaw x y z）——The Z1 follows the generated arc trajectory to the target point（After Z1 arrived the target point, it automatically switches to the joint space control state）
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```
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- Key7（TEACH）:
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```
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Key7——Enter the teaching trajectory label —— Drag Z1 —— Press Key2 to complete teaching.
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```
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- Key8（TEACHREPEAT）:
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```
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Key8———— Enter the saved teaching trajectory label—— Z1 repeate the teaching trajectory
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```
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- Key9（SAVESTATE）:
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```
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Key9——Enter the current pose label —— Z1 automatically switches to the joint space control state
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```
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- Key0（TOSTATE）:
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```
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Key0——Enter the pose label to save（After Z1 arrived the target point, it automatically switches to the joint space control state）
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```
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- Key -（TRAJECTORY）:
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```
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Key - —— Z1 repeats in a written trajectory
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```
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- Key=（CALIBRATION)；
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```
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Key= —— Set the current position as the initial position, and enter the joint space control state after setting
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```
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- Key ] （NEXT）: used to debug joystick contrl
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```
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Key]—— Enter next state
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```
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## SDK
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If you want to develop your own control methods of Z1, you can refer to the SDK(z1_sdk).
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We have written an example of keyboard control based on SDK, you can use it fllowing the steps below.
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### State change
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- First, set(CTRL_PANEL SDK) # z1_ws/src/z1_controller/CMakeList.txt，and then rebuild the z1_ws to generate z1_ctrl, then open a teminal to run z1_ctrl
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```
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cd /<path to>/z1_controller/build
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sudo ./z1_ctrl
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```
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- Sencond, build the z1_sdk, and then open another terminal to run example.
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```
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cd /<path to>/z1_sdk && mkdir build && cd build
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cmake ..
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make -j4
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./example_state_send
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```
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### Low level control
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```
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sudo ./z1_ctrl # Running in a terminal
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./example_lowCmd_send # Running in another terminal
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```
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### Keyboard control
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```
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sudo ./z1_ctrl # Running in a terminal
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./example_keyboard_send # Running in another terminal
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```
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### State control
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```
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sudo ./z1_ctrl # Running in a terminal
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./example_keyboard_send # Running in another terminal
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```
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